CN107049497B - Puncture navigation robot system - Google Patents
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- CN107049497B CN107049497B CN201710299645.3A CN201710299645A CN107049497B CN 107049497 B CN107049497 B CN 107049497B CN 201710299645 A CN201710299645 A CN 201710299645A CN 107049497 B CN107049497 B CN 107049497B
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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Abstract
The invention discloses a puncture navigation robot system, which comprises: an imaging device which takes a preoperative lesion area image; the host computer comprises a local host computer and a remote host computer, the host computer receives the images shot by the image equipment and processes the images to generate 3D images, so that a doctor can determine a puncture track according to the 3D images and puncture track data is formed on the host computer; the robot receives the puncture track data sent by the host and performs puncture surgery according to the data; and the video equipment is used for shooting the image of the puncture track in real time and transmitting the image to the host machine so that the doctor can improve and update the operation track in real time according to the image. The puncture operation is carried out by adopting the host computer to control the robot, so that the positioning precision and the puncture stability are improved, the requirements on an operating doctor can be greatly reduced, the operation difficulty is reduced, and the success rate of the operation and the diagnosis and treatment effect are improved.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a puncture navigation robot system.
Background
CT guided downward puncture is a common means in current interventional diagnosis and treatment, is the basis of CT guided downward interventional diagnosis and treatment technology, is developed rapidly, has high popularization degree, and is widely applied to puncture biopsy, cyst and abscess drainage, tumor ablation (microwave, radio frequency, laser, argon-helium knife, irreversible electroporation, chemical drug injection), radioactive particle implantation and the like. The percutaneous puncture method adopted at present, particularly the puncture with more difficulty, has high requirements on the experience and the technical level of an operator, and simultaneously, the CT guidance is adopted to cause radiation damage to the operator to a certain extent. Although medical robots have made some progress at home and abroad, there still exist many problems in interventional surgical applications, the robot functions are relatively simple, the types of surgeries that can be performed are few, and for example, the combination of imaging and robots, accurate positioning, multi-needle operation, etc. cannot be achieved.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention also aims to provide a puncture navigation robot system, which adopts a host computer to control a robot to perform puncture operation, improves the positioning precision and the puncture stability, can greatly reduce the requirements on operators, reduces the difficulty of the operation, and improves the success rate of the operation and the diagnosis and treatment effect.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a puncture navigation robot system including:
a robot;
a host computer that transmits a command to the robot to cause the robot to operate in accordance with the received command;
and the video equipment shoots the action image of the robot in real time and transmits the action image to the host so that a user can improve and update the instruction in real time according to the image.
Preferably, the puncture navigation robot system further includes:
the image equipment shoots an image of a lesion area and transmits the image to the host, and the host receives the image shot by the image equipment and processes the image to generate a 3D image so that a user inputs an instruction in the host according to the 3D image;
the sensor is respectively connected with the host and the robot so as to feed back the contact information between the robot and the human body to the host;
and the position tracker is respectively connected with the host and the robot so as to position the action of the robot.
Preferably, in the puncture navigation robot system, the host includes a local host and a remote host, and the remote host is wirelessly connected to the local host, so that when the remote host is turned on, the information of the local host and the information of the remote host are synchronized.
Preferably, in the puncture navigation robot system, the host computer may set a plurality of commands at the same time, and search the plurality of commands to avoid collision between the commands.
Preferably, in the puncture navigation robot system, the robot is provided with a respiratory gate control to reduce respiratory displacement when the instruction is executed.
Preferably, in the puncture navigation robot system, a virtual reality technology is arranged in the host machine so as to realize remote and on-site real-time interaction.
Preferably, in the puncture navigation robot system, a comprehensive database is provided in the main body, and predetermined instruction data and actually executed instruction data are stored in the comprehensive database.
Preferably, in the puncture navigation robot system, the host is provided with an alarm to give an alarm when signals between the host and the robot and between the host and the video device are interrupted.
Preferably, in the puncture navigation robot system, the host computer predicts an effect after the instruction is executed according to a predetermined instruction, records an actually generated effect after the instruction is executed, and synthesizes the predicted effect after the instruction is executed and the actually generated effect into a comparison map.
Preferably, in the puncture navigation robot system, the puncture navigation robot system is compatible with a radioactive seed implantation treatment planning system.
The invention at least comprises the following beneficial effects:
according to the puncture navigation robot system, the video equipment is used for shooting images, so that a doctor controls and guides the robot to perform a puncture operation according to the images by using the host, the puncture navigation robot system can utilize the accuracy and the weariness-free characteristics of the robot, and the stability, the safety and the accuracy of the operation are improved.
Through setting up video equipment in the operation and implementing the image of shooing the puncture orbit for the doctor can know the on-the-spot operation in real time and carry out real-time instruction improvement and update to the operation, is convenient for improve the success rate of operation.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a block diagram of a puncture navigation robot system according to the present invention;
fig. 2 is a system configuration diagram of the puncture navigation robot system according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and 2, the present invention provides a puncture navigation robot system including: a robot; a host computer that transmits a command to the robot to cause the robot to operate in accordance with the received command; and the video equipment shoots the action image of the robot in real time and transmits the action image to the host so that a user can improve and update the instruction in real time according to the image.
In the above scheme, the specific work flow of the puncture navigation robot system is as follows: the doctor inputs the instruction in the host computer, predetermined puncture orbit promptly, and the host computer simulates the puncture according to the puncture orbit to give the robot with puncture orbit data transmission, the robot carries out the puncture operation according to the data, and in the operation, video equipment shoots the operation process in real time, and conveys video information to the host computer and shows, and the doctor carries out real-time improvement and update to the orbit of puncture operation according to video information, with the success rate and the accuracy that have improved the operation.
In a preferred embodiment, the method further comprises: the image equipment shoots an image of a lesion area and transmits the image to the host, and the host receives the image shot by the image equipment and processes the image to generate a 3D image so that a user inputs an instruction in the host according to the 3D image; the sensor is respectively connected with the host and the robot so as to feed back the contact information between the robot and the human body to the host; and the position tracker is respectively connected with the host and the robot so as to position the action of the robot.
In the scheme, the image equipment starts to shoot the image of the lesion area of the patient, then the image information is transmitted to the host, the host processes the image to form a 3D image, and the host guides the doctor to determine the puncture track according to the image, so that the doctor can know the lesion area more intuitively and specifically, and the doctor can make an operation plan more conveniently and rapidly. Through setting up the sensor of being connected respectively with host computer and robot, can utilize the sensor with the information feedback of robot and patient contact to the host computer to can adjust the action of robot according to the information of feedback, can provide sense of touch and long-range doctor's sensation for the robot, so that the better integration of robot goes to operational environment. Through setting up the position tracker who is connected respectively with host computer and robot for the image that image equipment and video equipment obtained and the coordinate of video can match with the coordinate of robot, namely make the relative position of robot and patient position phase-match, make the motion of robot accomplish the parameterization, thereby location that can be accurate reaches spatial position. There are many kinds of position trackers, and the principles and forms of the position trackers are different. For example: an encoder can be arranged at each freedom degree position of the robot, each freedom degree motion range is read out, and the puncture needle position is obtained through conversion of the host; or a plurality of markers are arranged at corresponding positions of the operating table by using physical marker (marker) matching, and the image scanning is based on the markers. Before the robot performs surgery, the puncture needles at the tail end of the robot are operated to sequentially penetrate through a marker; or electromagnetic positioning is adopted, small ferromagnetic materials can be arranged at the tail ends of a sickbed or an image scanning instrument and a puncture needle, and the position of the robot is determined by receiving electromagnetic information. The position tracker may be optical, magnetic, mechanical or ultrasonic.
In a preferred embodiment, the host includes a local host and a remote host, and the remote host is wirelessly connected to the local host, so that when the remote host is turned on, information of the local host and the remote host is synchronized.
In the scheme, the host is set to comprise the local host and the remote host, so that the remote operation of the robot can be realized, and a superior doctor can perform remote operation or guide multiple places and multiple people to perform percutaneous puncture operation under the guidance of the imaging device and the video device without going out of home.
In a preferred embodiment, the host may set multiple commands simultaneously and retrieve the multiple commands to avoid conflicts between the commands.
In the above scheme, the instruction is the puncture orbit, namely, a plurality of puncture orbits can be simultaneously arranged on the host, and the intersecting orbit retrieval is carried out on the plurality of puncture orbits, so that the puncture trajectories can be effectively prevented from colliding during actual surgery, and a doctor can conveniently adjust according to the simulated puncture trajectories, thereby simplifying the work of the doctor and greatly improving the work efficiency and the surgery success rate. Meanwhile, the puncture navigation robot system can simultaneously set up 60 puncture tracks at most, and the robot can simultaneously puncture 6 puncture needles at one time and repeatedly puncture 60 puncture needles for many times, so that the requirements of most puncture operations can be met, and the operation efficiency is greatly improved.
In a preferred scheme, the robot is provided with a respiratory gate to reduce respiratory displacement when the instruction is executed.
In the above scheme, the robot is provided with the respiratory gate, so that the puncture navigation robot system can generate respiratory motion images of organs and tissues according to the respiratory condition of a patient, and a doctor can plan a puncture track according to the respiratory motion images, thereby effectively reducing the respiratory displacement of the puncture track.
In a preferred scheme, a virtual reality technology is arranged in the host machine so as to realize remote and on-site real-time interaction.
In the scheme, the virtual reality technology is arranged in the host, so that man-machine interaction is realized, namely, the scene of the operation site is simulated to a remote doctor, the doctor has an operation effect in the scene, the doctor can track the whole operation process conveniently, the operation can be corrected in time when manual intervention is needed, the robot can be controlled manually and remotely to perform the operation, the virtual operation of the remote doctor is realized, the site operation is directly controlled, and the consistency of the remote scene and the site scene is ensured.
In a preferred embodiment, a comprehensive database is provided in the host, and the comprehensive database stores predetermined instruction data and actually executed instruction data.
In the scheme, the comprehensive database is arranged in the host, so that the preset puncture track data of the operation and the puncture track data in the actual operation can be recorded and stored, a subsequent doctor can improve the operation according to the data content, and a better treatment scheme is provided for a patient subsequently.
In a preferred scheme, the host is provided with an alarm to give an alarm when signals between the host and the robot and between the host and the video equipment are interrupted.
In the scheme, the alarm is arranged, so that the alarm can be given in time when the system fails, and medical staff can take corresponding measures in time.
In a preferred embodiment, the host predicts an effect after the instruction is executed according to a predetermined instruction, records an actually generated effect after the instruction is executed, and synthesizes the predicted effect after the instruction is executed and the actually generated effect into a comparison graph.
In the scheme, the predicted postoperative effect and the actually generated postoperative effect are synthesized into a comparison graph, so that a doctor can summarize and designate an optimal operation scheme, the pain of a patient is reduced, and the treatment effect is improved.
In a preferred embodiment, the puncture navigation robot system is compatible with a radioactive seed implantation treatment planning system.
In the above scheme, the puncture navigation robot system is compatible with a radiation particle implantation Treatment Planning System (TPS), so that the puncture navigation robot system can navigate a puncture path designed by the TPS, can simultaneously direct 6 puncture paths at most, and can set 60 puncture paths in batches.
The puncture navigation robot system adopts a remote control CT guide lower puncture navigation robot system designed by novel image technology, network, intelligent robot and other high-tech means, and provides a robot for puncture navigation under CT guide, a remote design operation scheme and a method for controlling puncture operation (including biopsy, ablation and radioactive particle implantation). The robot system is beside a patient, various navigation or operation operations are completed through the mechanical arms, assistant doctors work at the side of the robot system, instruments and auxiliary operations are replaced, a main doctor is assisted in completing remote operation operations, the problems existing in manual operation and the problems of operation in other places of experts can be solved, the technical problems of accurate positioning, stable puncture and the like in the operation are solved, the precision of a plurality of puncture needles entering the human body is improved, the requirements on the operator can be greatly reduced, the difficulty of the operation is reduced, and the success rate of the operation and the diagnosis and treatment effect are improved. Meanwhile, the main doctor can remotely assist the operation robot to perform the operation, and the operation efficiency is greatly improved.
The puncture navigation robot system is used for assisting the percutaneous puncture operation (including biopsy, ablation, radioactive particle implantation and the like) under the guidance of CT, positioning and scanning and inputting DICOM images through CT, setting a three-dimensional puncture path, guiding the puncture direction by laser, and reducing the respiratory displacement to the maximum extent by assisting respiratory gating.
The traditional puncture operation equipment only needs an imaging device, and the operation is completed by a doctor. The robot system comprises a robot, a host, a position tracker, a sensor, a communication link and the like, so that the robot-assisted puncture surgery system can utilize the accuracy and the weariness characteristics of the robot to improve the stability, the safety and the accuracy of the surgery; matching the relative position of the robot to the position of the body using a position tracker, such as an electromagnetic locator (EM); and processing the image by using a host computer, planning the operation, processing the control signal and providing a human-computer interaction interface.
The process of the puncture surgery can be divided into two parts of trajectory planning and actual operation, so that the robot system assisted surgery is improved on the basis of the two parts. The trajectory planning means that a doctor determines a puncture point and a puncture path according to image information of a lesion area, the image acquired through the imaging device is transmitted to a host machine and then processed to obtain a 3D image of an organ and a tissue, a breathing moving image of the organ and the tissue is generated according to the breathing condition of a patient, and the operating doctor performs preoperative planning on the basis of the image; images are continuously obtained in real time in the operation, and the operation track can be improved and updated by combining the preoperative 3D model. The actual operation part is completely finished by a doctor in the original medical system, and the robot can execute the motion according to the track determined by the host machine in the novel system, so that the accurate and reliable puncture action or laser navigation path is provided.
The position tracker is a compass of the robot, the space obtained by image scanning and the robot are two independent and different coordinate systems, and the two coordinate systems are matched by means of the position tracker, so that the motion of the robot can be parameterized, and the spatial position of the medical system can be accurately positioned. In the puncture surgery, the puncture navigation robot system should be applied in consideration of human anatomy characteristics. And a sensor is arranged, and the contact information of the robot and the human body is fed back to the host computer, so that the motion of the robot is adjusted, and the contact of the robot and the environment is flexible or semi-flexible.
The robot receives the command from the host computer, assists the doctor to execute the operation, and the robot replaces the doctor or guides the puncture position and direction to the doctor to complete the puncture operation. The puncture process of the puncture needle comprises three stages: (1) the puncture point is selected and this part of the work refers to moving the puncture tip to the puncture point at the skin surface. (2) A puncture path is selected and the puncture needle is rotated three-dimensionally around the puncture needle entry point on the skin. (3) The puncture is made along a straight trajectory until the needle tip reaches the target point. For the robot, the three tasks can be divided into different mechanical motions to be executed, so that on one hand, the direction of a needle body in the puncture process can not change suddenly, and on the other hand, the harm of the operation on the tissues of a patient is minimized.
The system operation process comprises the following steps:
(1) and (4) carrying out on-site CT positioning scanning.
(2) A DICOM image is generated.
(3) And transmitting the data to the host.
(4) And (3) remotely or locally setting three-dimensional puncture paths, generating 60 puncture paths at most, and automatically searching for intersecting paths to avoid collision in the puncture process.
(5) Realize respiratory gating, reduce respiratory displacement.
(6) The puncture path is transmitted to the robot via the internet.
(7) And remotely or locally controlling the movement of the mechanical arm and the navigation claw of the robot.
(8) The direction and the angle of a laser head on the navigation claw are remotely or locally controlled and adjusted to generate a laser puncture path and a puncture depth.
(9) Control 6 laser heads at a time, produce 6 puncture paths.
(10) Puncture paths can be set up in 10 batches at most, 6 at a time, yielding a maximum of 60 navigation paths.
(11) The robot automatically moves the mechanical arm to the operation position according to the operation scheme, the surgical needles are inserted into the affected part, the insertion position, angle and depth are determined by an operation plan, 6 needles can be inserted at most once, the automatic insertion of 60 needles at most is realized through multiple movements, and meanwhile, whether the needle insertion is consistent with the plan or not can be judged through a real-time imaging system, and real-time adjustment can be carried out if the needle insertion is inconsistent with the plan.
(12) Remote and field data are interacted in real time through the Internet, and an emergency alarm signal is generated when a fault occurs.
(13) The real-time live video image and the remote video image can be transmitted in real time, and interaction is realized.
(14) The video equipment automatically detects whether the acupuncture position is consistent with the operation plan, and if the acupuncture position is in accordance with the operation plan, the video equipment immediately informs a doctor to correct the acupuncture position.
(15) And after the operation is finished, the robot can automatically return.
(16) Compatible with a radioactive seed implant Treatment Planning System (TPS).
(17) In the operation process, the virtual reality robot system of the system realizes the simulation of the scene to the remote doctor, realizes the direct control of the virtual operation of the remote doctor on the scene operation, and realizes the consistency of the remote scene and the scene.
The puncture navigation robot system mainly comprises a physical platform and a software platform, wherein the physical platform comprises a data detection system at a remote end, a medical imaging system, an automatic puncture positioning robot and a robot control platform (namely a host, including local and remote). The software platform comprises video transmission, image transmission, data transmission, operation guidance, automatic control and the like. The system transmits the CT image data and the medical history of the patient to a remote medical platform through a medical imaging system, a remote doctor mainly makes an operation plan through the image data and the medical history, the puncture process can be simulated on a computer, the scheme is downloaded to an operating room, the remote puncture positioning robot automatically moves the mechanical arm to the operation position according to the operation scheme, and realizes that the surgical needles are inserted into the affected part, the insertion position, angle and depth are determined by the surgical plan, 6 needles can be inserted at most at one time, the automatic insertion of 60 needles at most is realized by multiple movements, and whether the needles are consistent with a preset plan or not can be judged by a real-time image system, if the inconsistency is adjustable in real time, the remote main doctor can track the whole process situation of the operation in real time through the video transmission system, the operation is corrected in time when manual intervention is needed, and the diagnosis and treatment robot can be remotely and manually controlled to implement the operation.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. A puncture navigation robot system, comprising:
a robot;
a host computer that transmits a command to the robot to cause the robot to operate in accordance with the received command;
the video equipment shoots the action image of the robot in real time and transmits the action image to the host computer so that a user can improve and update the instruction in real time according to the image;
the host can set a plurality of instructions simultaneously and search the plurality of instructions to avoid mutual conflict among the instructions; the command is a puncture track, a plurality of puncture tracks are simultaneously arranged on the host, and the intersecting tracks of the plurality of puncture tracks are searched; the host is internally provided with 60 puncture tracks at most, the robot simultaneously punctures 6 puncture needles once and punctures 60 puncture needles repeatedly; a comprehensive database is arranged in the host, and predetermined instruction data and actually executed instruction data are stored in the comprehensive database; the host computer predicts the effect after the instruction is executed according to a preset instruction, records the actually generated effect after the instruction is executed, and synthesizes the predicted effect after the instruction is executed and the actually generated effect into a comparison graph.
2. The puncture navigation robot system according to claim 1, further comprising:
the image equipment shoots an image of a lesion area and transmits the image to the host, and the host receives the image shot by the image equipment and processes the image to generate a 3D image so that a user inputs an instruction in the host according to the 3D image;
the sensor is respectively connected with the host and the robot so as to feed back the contact information between the robot and the human body to the host;
and the position tracker is respectively connected with the host and the robot so as to position the action of the robot.
3. The puncture navigation robot system of claim 1, wherein the host includes a local host and a remote host, the remote host wirelessly connected to the local host to synchronize information of the local host and the remote host when the remote host is turned on.
4. The puncture navigation robot system of claim 1, wherein a respiratory gate is provided on the robot to reduce respiratory displacement upon execution of the instructions.
5. The puncture navigation robot system according to claim 1, wherein a virtual reality technology is provided in the host machine to realize real-time interaction between remote and on-site.
6. A puncture navigation robot system according to claim 1, wherein an alarm is provided on the host computer to give an alarm when signals between the host computer and the robot, the host computer and the video device are interrupted.
7. The puncture navigation robot system of claim 1, wherein the puncture navigation robot system is compatible with a radioactive seed implantation treatment planning system.
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